Dynamic Characteristics Study Of Cheese Cartesian Robot Actuator

The application of cheese Cartesian robot promotes the development of automation in printing and dyeing industry.The yarn-cage has the characteristics of large diameter,high height and dense yarn-bars arrangement,which puts forward high technical requirements for the structural design and stable operation of the cheese Cartesian robot actuator.The developed cheese Cartesian robot actuator is a single link flexible mechanical arm with large aspect ratio.The high-speed movement of robot will cause large residual vibration of the actuator,which will affect the accurate positioning of the actuator and the improvement of the efficiency of the robot.This paper took the actuator with large aspect ratio of cheese Cartesian robot as the research object,carrie d out the dynamic modeling,dynamic characteristic analysis and residual vibration control based on input shaping technology,and carried out experimental verification and algorithm optimization.The research results provide a research basis for the accurat e positioning control of the Cartesian robot actuator.In the aspect of dynamic modeling,the actuator model of cheese Cartesian coordinate robot was simplified.And the deformation displacement vector relationship of the actuator in the initial state,intermediate state and current state was studied,a large-scale radial motion kinematics description method of the actuator was proposed,and the dynamic control model of the actuator was established based on Hamilton principle and mode superposition method.Starting from the two dimensions of the modal parameters and the end residual amplitude on the actuator,the accuracy of the dynamic control model was verified by comparing the analytical results with the finite element calculation and virtual prototype simulation results.In the aspect of dynamic characteristic analysis,based on the dynamic control model,simulation analysis and experimental research on key factors affecting the dynamic characteristics of robot actuator were carried out.The influence laws of driving command and disturbance,initial displacement and speed,and load mass on the dynamic characteristics of the actuator were obtained.According to the influence laws of different initial displacement,speed and other motion state variables o n the dynamic characteristics of the mechanical arm,a vibration control method based on three-stage acceleration trajectory planning was proposed.In the aspect of vibration control research,based on the input shaping principle,the input shaper with different performance indexes was designed,and the simulation analysis and robustness analysis were carried out.The software and hardware platforms for residual vibration control of the actuator was built,and the residual vibration control at the end of the actuator was realized based on Siemens PLC logic controller.And experimental verification and algorithm optimization were carried out to further improve the control effect of residual vibration.The above research results not only improve the positioning accuracy and performance of cheese Cartesian robot,but also have important theoretical and practical significance for promoting the flexible development of the actuator and the popularization and application of Cartesian series robots.